The Earth–Moon system is unique in that the ratio of the mass of the Moon to the mass of Earth is much greater than that of any other natural-satellite–planet ratio in the Solar System (although there are minor-planet systems with even greater ratios, notably the Pluto–Charon system).

The natural satellites orbiting relatively close to the planet on prograde, uninclined circular orbits (regular satellites) are generally believed to have been formed out of the same collapsing region of the protoplanetary disk that created its primary. In contrast, irregular satellites (generally orbiting on distant, inclined, eccentric and/or retrograde orbits) are thought to be captured asteroids possibly further fragmented by collisions. Most of the major natural satellites of the Solar System have regular orbits, while most of the small natural satellites have irregular orbits.[7] The Moon[8] and possibly Charon[9] are exceptions among large bodies in that they are believed to have originated by the collision of two large proto-planetary objects (see the giant impact hypothesis). The material that would have been placed in orbit around the central body is predicted to have reaccreted to form one or more orbiting natural satellites. As opposed to planetary-sized bodies, asteroid moons are thought to commonly form by this process. Triton is another exception; although large and in a close, circular orbit, its motion is retrograde and it is thought to be a captured dwarf planet.

Most regular moons (natural satellites following relatively close and prograde orbits with small orbital inclination and eccentricity) in the Solar System are tidally locked to their respective primaries, meaning that the same side of the natural satellite always faces its planet. The only known exception is Saturn's natural satellite Hyperion, which rotates chaotically because of the gravitational influence of Titan.

In contrast, the outer natural satellites of the giants planet (irregular satellites) are too far away to have become locked. For example, Jupiter's Himalia, Saturn's Phoebe, and Neptune's Nereid have rotation periods in the range of ten hours, whereas their orbital periods are hundreds of days.

No "moons of moons" (natural satellites that orbit a natural satellite of another body) are currently known as of 2015. In most cases, the tidal effects of the primary would make such a system unstable.

However, calculations performed after the recent detection[10] of a possible ring system around Saturn's natural satellite Rhea indicate that satellites orbiting Rhea would have stable orbits. Furthermore, the suspected rings are thought to be narrow,[11] a phenomenon normally associated with shepherd moons. However, targeted images taken by the Cassini spacecraft failed to detect any rings associated with Rhea.[12]

It has also been proposed that Saturn's satellite Iapetus possessed a subsatellite in the past; this is one of several hypotheses that have been put forward to account for its equatorial ridge.[13]

The discovery of 243 Ida's natural satellite Dactyl in the early 1990s confirmed that some asteroids have natural satellites; indeed, 87 Sylvia has two. Some, such as 90 Antiope, are double asteroids with two comparably sized components.

The relative masses of the natural satellites of the Solar System. Mimas, Enceladus, and Miranda are too small to be visible at this scale. All the irregularly shaped natural satellites, even added together, would also be too small to be visible.

Neptune's moon Proteus is the largest irregularly shaped natural satellite. All other known natural satellites that are at least the size of Uranus's Miranda have lapsed into rounded ellipsoids under hydrostatic equilibrium, i.e. are "round/rounded satellites". The larger natural satellites, being tidally locked, tend toward ovoid (egg-like) shapes: squat at their poles and with longer equatorial axes in the direction of their primaries (their planets) than in the direction of their motion. Saturn's moon Mimas, for example, has a major axis 9% greater than its polar axis and 5% greater than its other equatorial axis. Methone, another of Saturn's moons, is only around 3 km in diameter and visibly egg-shaped. The effect is smaller on the largest natural satellites, where their own gravity is greater relative to the effects of tidal distortion, especially those that orbit less massive planets or, as in the case of the Moon, at greater distances.

Of the nineteen known natural satellites in the Solar System that are massive enough to have lapsed into hydrostatic equilibrium, several remain geologically active today. Io is the most volcanically active body in the Solar System, while Europa, Enceladus, Titan and Triton display evidence of ongoing tectonic activity and cryovolcanism. In the first three cases, the geological activity is powered by the tidal heating resulting from having eccentric orbits close to their giant-planet primaries. (This mechanism would have also operated on Triton in the past, before its orbit was circularized.) Many other natural satellites, such as Earth's Moon, Ganymede, Tethys and Miranda, show evidence of past geological activity, resulting from energy sources such as the decay of their primordialradioisotopes, greater past orbital eccentricities (due in some cases to past orbital resonances), or the differentiation or freezing of their interiors. Enceladus and Triton both have active features resembling geysers, although in the case of Triton solar heating appears to provide the energy. Titan and Triton have significant atmospheres; Titan also has hydrocarbon lakes, and presumably methane rain. Four of the largest natural satellites, Europa, Ganymede, Callisto, and Titan, are thought to have subsurface oceans of liquid water, while smaller Enceladus may have localized subsurface liquid water.

The following is a comparative table classifying the natural satellites in the Solar System by diameter. The column on the right includes some notable planets, dwarf planets, asteroids, and trans-Neptunian objects for comparison. The natural satellites of the planets are named after mythological figures. These are predominately Greek, except for the Uranian natural satellites, which are named after Shakespearean characters. The nineteen bodies massive enough to have achieved hydrostatic equilibrium are in bold in the table below. Minor planets and satellites suspected but not proven to have achieved a hydrostatic equilibrium are italicized in the table below.

Montage comparing the relative sizes of selected natural satellites with the terrestrial planets and the dwarf planet Pluto

The first known natural satellite was the Moon, but it was considered a "planet" until Copernicus' introduction of heliocentrism in 1543. Until the discovery of the Galilean satellites in 1610, however, there was no opportunity for referring to such objects as a class. Galileo chose to refer to his discoveries as Planetæ ("planets"), but later discoverers chose other terms to distinguish them from the objects they orbited.

Christiaan Huygens, the discoverer of Titan, was the first to use the term moon for such objects, calling Titan Luna Saturni or Luna Saturnia – "Saturn's moon" or "The Saturnian moon", because it stood in the same relation to Saturn as the Moon did to Earth.[citation needed]

The first to use of the term satellite to describe orbiting bodies was the German astronomer Johannes Kepler in his pamphlet Narratio de Observatis a se quatuor Iouis satellitibus erronibus ("Narration About Four Satellites of Jupiter Observed") in 1610. He derived the term from the Latin word satelles, meaning "guard", "attendant", or "companion", because the satellites accompanied their primary planet in their journey through the heavens.

The term satellite thus became the normal one for referring to an object orbiting a planet, as it avoided the ambiguity of "moon". In 1957, however, the launching of the artificial object Sputnik created a need for new terminology. The terms man-made satellite or artificial moon were very quickly abandoned in favor of the simpler satellite, and as a consequence, the term has become linked primarily with artificial objects flown in space – including, sometimes, even those not in orbit around a planet.

Because of this shift in meaning, the term moon, which had continued to be used in a generic sense in works of popular science and in fiction, has regained respectability and is now used interchangeably with natural satellite, even in scientific articles. When it is necessary to avoid both the ambiguity of confusion with the Earth's natural satellite the Moon and the natural satellites of the other planets on the one hand, and artificial satellites on the other, the term natural satellite (using "natural" in a sense opposed to "artificial") is used. To further avoid ambiguity, the convention is to capitalize the word Moon when referring to the Earth's natural satellite, but not when referring to other natural satellites.

There is not an established lower limit on what is considered a "moon", as natural satellites will be referred to in this section. Every natural celestial body with an identified orbit around a planet of the Solar System, some as small as a kilometer across, has been identified as a moon, though objects a tenth that size within Saturn's rings, which have not been directly observed, have been called moonlets. Small asteroid moons (natural satellites of asteroids), such as Dactyl, have also been called moonlets.[14]

The upper limit is also vague. Two orbiting bodies are sometimes described as a double body rather than primary and satellite. Asteroids such as 90 Antiope are considered double asteroids, but they have not forced a clear definition of what constitutes a moon. Some authors consider the Pluto–Charon system to be a double (dwarf) planet. The most common[citation needed] dividing line on what is considered a moon rests upon whether the barycentre is below the surface of the larger body, though this is somewhat arbitrary, as it relies on distance as well as relative mass.